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|
;;
;; DO NOT EDIT THIS FILE
;; this file is automatically generated from euslisp+euslib version
;;
;;
(defclass room610-chair-object
:super cascaded-link
:slots (sensors
handle0 handle1 handle2 handle3 handle4 handle5
))
(defmethod room610-chair-object
(:init
(&rest args &key (name "room610-chair") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys)
(let (c bc
blink0
)
(send-super* :init :name name args)
;; definition of link
;; definition of :room610-chair-bodyset2
(setq bc (list
(instance faceset :init :faces (list
(instance face :init :vertices (list (float-vector -225.0 -220.0 340.0) (float-vector -155.0 -220.0 340.0) (float-vector -215.0 -220.0 555.0) (float-vector -305.0 -220.0 820.0) (float-vector -330.0 -220.0 840.0) (float-vector -345.0 -220.0 835.0) (float-vector -350.0 -220.0 820.0) (float-vector -270.0 -220.0 550.0)))
(instance face :init :vertices (list (float-vector -155.0 220.0 340.0) (float-vector -225.0 220.0 340.0) (float-vector -270.0 220.0 550.0) (float-vector -350.0 220.0 820.0) (float-vector -345.0 220.0 835.0) (float-vector -330.0 220.0 840.0) (float-vector -305.0 220.0 820.0) (float-vector -215.0 220.0 555.0)))
(instance face :init :vertices (list (float-vector -225.0 -220.0 340.0) (float-vector -225.0 220.0 340.0) (float-vector -155.0 220.0 340.0) (float-vector -155.0 -220.0 340.0)))
(instance face :init :vertices (list (float-vector -270.0 -220.0 550.0) (float-vector -270.0 220.0 550.0) (float-vector -225.0 220.0 340.0) (float-vector -225.0 -220.0 340.0)))
(instance face :init :vertices (list (float-vector -350.0 -220.0 820.0) (float-vector -350.0 220.0 820.0) (float-vector -270.0 220.0 550.0) (float-vector -270.0 -220.0 550.0)))
(instance face :init :vertices (list (float-vector -345.0 -220.0 835.0) (float-vector -345.0 220.0 835.0) (float-vector -350.0 220.0 820.0) (float-vector -350.0 -220.0 820.0)))
(instance face :init :vertices (list (float-vector -330.0 -220.0 840.0) (float-vector -330.0 220.0 840.0) (float-vector -345.0 220.0 835.0) (float-vector -345.0 -220.0 835.0)))
(instance face :init :vertices (list (float-vector -305.0 -220.0 820.0) (float-vector -305.0 220.0 820.0) (float-vector -330.0 220.0 840.0) (float-vector -330.0 -220.0 840.0)))
(instance face :init :vertices (list (float-vector -215.0 -220.0 555.0) (float-vector -215.0 220.0 555.0) (float-vector -305.0 220.0 820.0) (float-vector -305.0 -220.0 820.0)))
(instance face :init :vertices (list (float-vector -155.0 -220.0 340.0) (float-vector -155.0 220.0 340.0) (float-vector -215.0 220.0 555.0) (float-vector -215.0 -220.0 555.0)))
(instance face :init :vertices (list (float-vector -220.0 -240.0 415.0) (float-vector -220.0 -240.0 340.0) (float-vector 220.0 -240.0 340.0) (float-vector 220.0 -240.0 440.0) (float-vector 70.0 -240.0 435.0) (float-vector -20.0 -240.0 415.0)))
(instance face :init :vertices (list (float-vector -220.0 240.0 340.0) (float-vector -220.0 240.0 415.0) (float-vector -20.0 240.0 415.0) (float-vector 70.0 240.0 435.0) (float-vector 220.0 240.0 440.0) (float-vector 220.0 240.0 340.0)))
(instance face :init :vertices (list (float-vector -220.0 -240.0 415.0) (float-vector -220.0 240.0 415.0) (float-vector -220.0 240.0 340.0) (float-vector -220.0 -240.0 340.0)))
(instance face :init :vertices (list (float-vector -20.0 -240.0 415.0) (float-vector -20.0 240.0 415.0) (float-vector -220.0 240.0 415.0) (float-vector -220.0 -240.0 415.0)))
(instance face :init :vertices (list (float-vector 70.0 -240.0 435.0) (float-vector 70.0 240.0 435.0) (float-vector -20.0 240.0 415.0) (float-vector -20.0 -240.0 415.0)))
(instance face :init :vertices (list (float-vector 220.0 -240.0 440.0) (float-vector 220.0 240.0 440.0) (float-vector 70.0 240.0 435.0) (float-vector 70.0 -240.0 435.0)))
(instance face :init :vertices (list (float-vector 220.0 -240.0 340.0) (float-vector 220.0 240.0 340.0) (float-vector 220.0 240.0 440.0) (float-vector 220.0 -240.0 440.0)))
(instance face :init :vertices (list (float-vector -220.0 -240.0 340.0) (float-vector -220.0 240.0 340.0) (float-vector 220.0 240.0 340.0) (float-vector 220.0 -240.0 340.0)))
(instance face :init :vertices (list (float-vector 245.49 250.0 420.0) (float-vector 247.5 257.5 420.0) (float-vector 245.49 265.0 420.0) (float-vector 240.0 270.49 420.0) (float-vector 232.5 272.5 420.0) (float-vector 225.0 270.49 420.0) (float-vector 219.51 265.0 420.0) (float-vector 217.5 257.5 420.0) (float-vector 219.51 250.0 420.0) (float-vector 225.0 244.51 420.0) (float-vector 232.5 242.5 420.0) (float-vector 240.0 244.51 420.0)))
(instance face :init :vertices (list (float-vector 247.5 257.5 0.0) (float-vector 245.49 250.0 0.0) (float-vector 240.0 244.51 0.0) (float-vector 232.5 242.5 0.0) (float-vector 225.0 244.51 0.0) (float-vector 219.51 250.0 0.0) (float-vector 217.5 257.5 0.0) (float-vector 219.51 265.0 0.0) (float-vector 225.0 270.49 0.0) (float-vector 232.5 272.5 0.0) (float-vector 240.0 270.49 0.0) (float-vector 245.49 265.0 0.0)))
(instance face :init :vertices (list (float-vector 245.49 250.0 420.0) (float-vector 245.49 250.0 0.0) (float-vector 247.5 257.5 0.0) (float-vector 247.5 257.5 420.0)))
(instance face :init :vertices (list (float-vector 240.0 244.51 420.0) (float-vector 240.0 244.51 0.0) (float-vector 245.49 250.0 0.0) (float-vector 245.49 250.0 420.0)))
(instance face :init :vertices (list (float-vector 232.5 242.5 420.0) (float-vector 232.5 242.5 0.0) (float-vector 240.0 244.51 0.0) (float-vector 240.0 244.51 420.0)))
(instance face :init :vertices (list (float-vector 225.0 244.51 420.0) (float-vector 225.0 244.51 0.0) (float-vector 232.5 242.5 0.0) (float-vector 232.5 242.5 420.0)))
(instance face :init :vertices (list (float-vector 219.51 250.0 420.0) (float-vector 219.51 250.0 0.0) (float-vector 225.0 244.51 0.0) (float-vector 225.0 244.51 420.0)))
(instance face :init :vertices (list (float-vector 217.5 257.5 420.0) (float-vector 217.5 257.5 0.0) (float-vector 219.51 250.0 0.0) (float-vector 219.51 250.0 420.0)))
(instance face :init :vertices (list (float-vector 219.51 265.0 420.0) (float-vector 219.51 265.0 0.0) (float-vector 217.5 257.5 0.0) (float-vector 217.5 257.5 420.0)))
(instance face :init :vertices (list (float-vector 225.0 270.49 420.0) (float-vector 225.0 270.49 0.0) (float-vector 219.51 265.0 0.0) (float-vector 219.51 265.0 420.0)))
(instance face :init :vertices (list (float-vector 232.5 272.5 420.0) (float-vector 232.5 272.5 0.0) (float-vector 225.0 270.49 0.0) (float-vector 225.0 270.49 420.0)))
(instance face :init :vertices (list (float-vector 240.0 270.49 420.0) (float-vector 240.0 270.49 0.0) (float-vector 232.5 272.5 0.0) (float-vector 232.5 272.5 420.0)))
(instance face :init :vertices (list (float-vector 245.49 265.0 420.0) (float-vector 245.49 265.0 0.0) (float-vector 240.0 270.49 0.0) (float-vector 240.0 270.49 420.0)))
(instance face :init :vertices (list (float-vector 247.5 257.5 420.0) (float-vector 247.5 257.5 0.0) (float-vector 245.49 265.0 0.0) (float-vector 245.49 265.0 420.0)))
(instance face :init :vertices (list (float-vector 245.49 -265.0 420.0) (float-vector 247.5 -257.5 420.0) (float-vector 245.49 -250.0 420.0) (float-vector 240.0 -244.51 420.0) (float-vector 232.5 -242.5 420.0) (float-vector 225.0 -244.51 420.0) (float-vector 219.51 -250.0 420.0) (float-vector 217.5 -257.5 420.0) (float-vector 219.51 -265.0 420.0) (float-vector 225.0 -270.49 420.0) (float-vector 232.5 -272.5 420.0) (float-vector 240.0 -270.49 420.0)))
(instance face :init :vertices (list (float-vector 247.5 -257.5 0.0) (float-vector 245.49 -265.0 0.0) (float-vector 240.0 -270.49 0.0) (float-vector 232.5 -272.5 0.0) (float-vector 225.0 -270.49 0.0) (float-vector 219.51 -265.0 0.0) (float-vector 217.5 -257.5 0.0) (float-vector 219.51 -250.0 0.0) (float-vector 225.0 -244.51 0.0) (float-vector 232.5 -242.5 0.0) (float-vector 240.0 -244.51 0.0) (float-vector 245.49 -250.0 0.0)))
(instance face :init :vertices (list (float-vector 245.49 -265.0 420.0) (float-vector 245.49 -265.0 0.0) (float-vector 247.5 -257.5 0.0) (float-vector 247.5 -257.5 420.0)))
(instance face :init :vertices (list (float-vector 240.0 -270.49 420.0) (float-vector 240.0 -270.49 0.0) (float-vector 245.49 -265.0 0.0) (float-vector 245.49 -265.0 420.0)))
(instance face :init :vertices (list (float-vector 232.5 -272.5 420.0) (float-vector 232.5 -272.5 0.0) (float-vector 240.0 -270.49 0.0) (float-vector 240.0 -270.49 420.0)))
(instance face :init :vertices (list (float-vector 225.0 -270.49 420.0) (float-vector 225.0 -270.49 0.0) (float-vector 232.5 -272.5 0.0) (float-vector 232.5 -272.5 420.0)))
(instance face :init :vertices (list (float-vector 219.51 -265.0 420.0) (float-vector 219.51 -265.0 0.0) (float-vector 225.0 -270.49 0.0) (float-vector 225.0 -270.49 420.0)))
(instance face :init :vertices (list (float-vector 217.5 -257.5 420.0) (float-vector 217.5 -257.5 0.0) (float-vector 219.51 -265.0 0.0) (float-vector 219.51 -265.0 420.0)))
(instance face :init :vertices (list (float-vector 219.51 -250.0 420.0) (float-vector 219.51 -250.0 0.0) (float-vector 217.5 -257.5 0.0) (float-vector 217.5 -257.5 420.0)))
(instance face :init :vertices (list (float-vector 225.0 -244.51 420.0) (float-vector 225.0 -244.51 0.0) (float-vector 219.51 -250.0 0.0) (float-vector 219.51 -250.0 420.0)))
(instance face :init :vertices (list (float-vector 232.5 -242.5 420.0) (float-vector 232.5 -242.5 0.0) (float-vector 225.0 -244.51 0.0) (float-vector 225.0 -244.51 420.0)))
(instance face :init :vertices (list (float-vector 240.0 -244.51 420.0) (float-vector 240.0 -244.51 0.0) (float-vector 232.5 -242.5 0.0) (float-vector 232.5 -242.5 420.0)))
(instance face :init :vertices (list (float-vector 245.49 -250.0 420.0) (float-vector 245.49 -250.0 0.0) (float-vector 240.0 -244.51 0.0) (float-vector 240.0 -244.51 420.0)))
(instance face :init :vertices (list (float-vector 247.5 -257.5 420.0) (float-vector 247.5 -257.5 0.0) (float-vector 245.49 -250.0 0.0) (float-vector 245.49 -250.0 420.0)))
(instance face :init :vertices (list (float-vector -219.51 180.0 420.0) (float-vector -217.5 187.5 420.0) (float-vector -219.51 195.0 420.0) (float-vector -225.0 200.49 420.0) (float-vector -232.5 202.5 420.0) (float-vector -240.0 200.49 420.0) (float-vector -245.49 195.0 420.0) (float-vector -247.5 187.5 420.0) (float-vector -245.49 180.0 420.0) (float-vector -240.0 174.51 420.0) (float-vector -232.5 172.5 420.0) (float-vector -225.0 174.51 420.0)))
(instance face :init :vertices (list (float-vector -217.5 187.5 0.0) (float-vector -219.51 180.0 0.0) (float-vector -225.0 174.51 0.0) (float-vector -232.5 172.5 0.0) (float-vector -240.0 174.51 0.0) (float-vector -245.49 180.0 0.0) (float-vector -247.5 187.5 0.0) (float-vector -245.49 195.0 0.0) (float-vector -240.0 200.49 0.0) (float-vector -232.5 202.5 0.0) (float-vector -225.0 200.49 0.0) (float-vector -219.51 195.0 0.0)))
(instance face :init :vertices (list (float-vector -219.51 180.0 420.0) (float-vector -219.51 180.0 0.0) (float-vector -217.5 187.5 0.0) (float-vector -217.5 187.5 420.0)))
(instance face :init :vertices (list (float-vector -225.0 174.51 420.0) (float-vector -225.0 174.51 0.0) (float-vector -219.51 180.0 0.0) (float-vector -219.51 180.0 420.0)))
(instance face :init :vertices (list (float-vector -232.5 172.5 420.0) (float-vector -232.5 172.5 0.0) (float-vector -225.0 174.51 0.0) (float-vector -225.0 174.51 420.0)))
(instance face :init :vertices (list (float-vector -240.0 174.51 420.0) (float-vector -240.0 174.51 0.0) (float-vector -232.5 172.5 0.0) (float-vector -232.5 172.5 420.0)))
(instance face :init :vertices (list (float-vector -245.49 180.0 420.0) (float-vector -245.49 180.0 0.0) (float-vector -240.0 174.51 0.0) (float-vector -240.0 174.51 420.0)))
(instance face :init :vertices (list (float-vector -247.5 187.5 420.0) (float-vector -247.5 187.5 0.0) (float-vector -245.49 180.0 0.0) (float-vector -245.49 180.0 420.0)))
(instance face :init :vertices (list (float-vector -245.49 195.0 420.0) (float-vector -245.49 195.0 0.0) (float-vector -247.5 187.5 0.0) (float-vector -247.5 187.5 420.0)))
(instance face :init :vertices (list (float-vector -240.0 200.49 420.0) (float-vector -240.0 200.49 0.0) (float-vector -245.49 195.0 0.0) (float-vector -245.49 195.0 420.0)))
(instance face :init :vertices (list (float-vector -232.5 202.5 420.0) (float-vector -232.5 202.5 0.0) (float-vector -240.0 200.49 0.0) (float-vector -240.0 200.49 420.0)))
(instance face :init :vertices (list (float-vector -225.0 200.49 420.0) (float-vector -225.0 200.49 0.0) (float-vector -232.5 202.5 0.0) (float-vector -232.5 202.5 420.0)))
(instance face :init :vertices (list (float-vector -219.51 195.0 420.0) (float-vector -219.51 195.0 0.0) (float-vector -225.0 200.49 0.0) (float-vector -225.0 200.49 420.0)))
(instance face :init :vertices (list (float-vector -217.5 187.5 420.0) (float-vector -217.5 187.5 0.0) (float-vector -219.51 195.0 0.0) (float-vector -219.51 195.0 420.0)))
(instance face :init :vertices (list (float-vector -219.51 -195.0 420.0) (float-vector -217.5 -187.5 420.0) (float-vector -219.51 -180.0 420.0) (float-vector -225.0 -174.51 420.0) (float-vector -232.5 -172.5 420.0) (float-vector -240.0 -174.51 420.0) (float-vector -245.49 -180.0 420.0) (float-vector -247.5 -187.5 420.0) (float-vector -245.49 -195.0 420.0) (float-vector -240.0 -200.49 420.0) (float-vector -232.5 -202.5 420.0) (float-vector -225.0 -200.49 420.0)))
(instance face :init :vertices (list (float-vector -217.5 -187.5 0.0) (float-vector -219.51 -195.0 0.0) (float-vector -225.0 -200.49 0.0) (float-vector -232.5 -202.5 0.0) (float-vector -240.0 -200.49 0.0) (float-vector -245.49 -195.0 0.0) (float-vector -247.5 -187.5 0.0) (float-vector -245.49 -180.0 0.0) (float-vector -240.0 -174.51 0.0) (float-vector -232.5 -172.5 0.0) (float-vector -225.0 -174.51 0.0) (float-vector -219.51 -180.0 0.0)))
(instance face :init :vertices (list (float-vector -219.51 -195.0 420.0) (float-vector -219.51 -195.0 0.0) (float-vector -217.5 -187.5 0.0) (float-vector -217.5 -187.5 420.0)))
(instance face :init :vertices (list (float-vector -225.0 -200.49 420.0) (float-vector -225.0 -200.49 0.0) (float-vector -219.51 -195.0 0.0) (float-vector -219.51 -195.0 420.0)))
(instance face :init :vertices (list (float-vector -232.5 -202.5 420.0) (float-vector -232.5 -202.5 0.0) (float-vector -225.0 -200.49 0.0) (float-vector -225.0 -200.49 420.0)))
(instance face :init :vertices (list (float-vector -240.0 -200.49 420.0) (float-vector -240.0 -200.49 0.0) (float-vector -232.5 -202.5 0.0) (float-vector -232.5 -202.5 420.0)))
(instance face :init :vertices (list (float-vector -245.49 -195.0 420.0) (float-vector -245.49 -195.0 0.0) (float-vector -240.0 -200.49 0.0) (float-vector -240.0 -200.49 420.0)))
(instance face :init :vertices (list (float-vector -247.5 -187.5 420.0) (float-vector -247.5 -187.5 0.0) (float-vector -245.49 -195.0 0.0) (float-vector -245.49 -195.0 420.0)))
(instance face :init :vertices (list (float-vector -245.49 -180.0 420.0) (float-vector -245.49 -180.0 0.0) (float-vector -247.5 -187.5 0.0) (float-vector -247.5 -187.5 420.0)))
(instance face :init :vertices (list (float-vector -240.0 -174.51 420.0) (float-vector -240.0 -174.51 0.0) (float-vector -245.49 -180.0 0.0) (float-vector -245.49 -180.0 420.0)))
(instance face :init :vertices (list (float-vector -232.5 -172.5 420.0) (float-vector -232.5 -172.5 0.0) (float-vector -240.0 -174.51 0.0) (float-vector -240.0 -174.51 420.0)))
(instance face :init :vertices (list (float-vector -225.0 -174.51 420.0) (float-vector -225.0 -174.51 0.0) (float-vector -232.5 -172.5 0.0) (float-vector -232.5 -172.5 420.0)))
(instance face :init :vertices (list (float-vector -219.51 -180.0 420.0) (float-vector -219.51 -180.0 0.0) (float-vector -225.0 -174.51 0.0) (float-vector -225.0 -174.51 420.0)))
(instance face :init :vertices (list (float-vector -217.5 -187.5 420.0) (float-vector -217.5 -187.5 0.0) (float-vector -219.51 -180.0 0.0) (float-vector -219.51 -180.0 420.0)))
))
))
(dolist (b (cdr bc)) (send (car bc) :assoc b))
(send (elt bc 0) :set-color (list))
(setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :room610-chair-bodyset2 :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0))))
;; definition of assoc
(send self :assoc blink0)
;; definition of end-coords
;; definition of joint
;; definition of :handle
(setq handle0 (make-cascoords :pos (float-vector -300.0 160.0 750.0) :rot #2f((-5.551115e-17 0.939693 -0.34202) (-1.0 -1.110223e-16 2.775558e-17) (-2.775558e-17 0.34202 0.939693)) :name ":side-larm"))
(send blink0 :assoc handle0)
(setq handle1 (make-cascoords :pos (float-vector -300.0 -160.0 750.0) :rot #2f((-5.551115e-17 -0.939693 -0.34202) (1.0 -1.110223e-16 -2.775558e-17) (-2.775558e-17 -0.34202 0.939693)) :name ":side-rarm"))
(send blink0 :assoc handle1)
(setq handle2 (make-cascoords :pos (float-vector -300.0 0.0 830.0) :rot #2f((0.5 0.866025 -1.110223e-16) (1.110223e-16 -1.665335e-16 -1.0) (-0.866025 0.5 -1.665335e-16)) :name ":above-larm"))
(send blink0 :assoc handle2)
(setq handle3 (make-cascoords :pos (float-vector -330.0 0.0 830.0) :rot #2f((0.5 -0.866025 -1.110223e-16) (-1.110223e-16 -1.665335e-16 1.0) (-0.866025 -0.5 -1.665335e-16)) :name ":above-rarm"))
(send blink0 :assoc handle3)
(setq handle4 (make-cascoords :pos (float-vector -370.0 0.0 850.0) :rot #2f((0.5 0.866025 -1.110223e-16) (1.110223e-16 -1.665335e-16 -1.0) (-0.866025 0.5 -1.665335e-16)) :name ":above-cloth-larm"))
(send blink0 :assoc handle4)
(setq handle5 (make-cascoords :pos (float-vector -370.0 0.0 850.0) :rot #2f((0.5 -0.866025 -1.110223e-16) (-1.110223e-16 -1.665335e-16 1.0) (-0.866025 -0.5 -1.665335e-16)) :name ":above-cloth-rarm"))
(send blink0 :assoc handle5)
;; init-ending
(setq links (list blink0))
(setq joint-list (list))
(send self :init-ending)
(send self :move-to (make-coords :pos pos :rot rot))
(send-all links :worldcoords)
self))
(:handle (&rest args) (forward-message-to-all (list handle0 handle1 handle2 handle3 handle4 handle5) args))
(:handle-side-larm (&rest args) (forward-message-to handle0 args))
(:handle-side-rarm (&rest args) (forward-message-to handle1 args))
(:handle-above-larm (&rest args) (forward-message-to handle2 args))
(:handle-above-rarm (&rest args) (forward-message-to handle3 args))
(:handle-above-cloth-larm (&rest args) (forward-message-to handle4 args))
(:handle-above-cloth-rarm (&rest args) (forward-message-to handle5 args))
(:attention (&rest args) (forward-message-to-all (list ) args))
(:button (&rest args) (forward-message-to-all (list ) args))
)
(defun room610-chair (&rest args) (instance* room610-chair-object :init args))
;; (format *error-output* "(instance room610-chair-object :init) for generating model~%")
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